US10328849B2 - Collision avoidance apparatus for notification of collision avoidance direction - Google Patents

Collision avoidance apparatus for notification of collision avoidance direction Download PDF

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Publication number
US10328849B2
US10328849B2 US15/574,803 US201615574803A US10328849B2 US 10328849 B2 US10328849 B2 US 10328849B2 US 201615574803 A US201615574803 A US 201615574803A US 10328849 B2 US10328849 B2 US 10328849B2
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Prior art keywords
vehicle
movement direction
collision
avoidance
target object
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US15/574,803
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US20180141492A1 (en
Inventor
Tetsuya Tokuda
Takeshi Miura
Yasuhiko Mukai
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Denso Corp
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Denso Corp
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Assigned to DENSO CORPORATION reassignment DENSO CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: TOKUDA, TETSUYA, MIURA, TAKESHI, MUKAI, YASUHIKO
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G06K9/00791—
    • G06K9/00805—
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/1141—One-way transmission
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects

Definitions

  • the present disclosure relates to a collision avoidance apparatus.
  • the present disclosure relates to a collision avoidance apparatus that uses the technology for avoiding a collision between an own vehicle and an object around the own vehicle.
  • JP-A 2002-274344 discloses the technology for performing collision avoidance process which automatically and appropriately allocates four-wheel drive and improves the turning characteristics at the time of avoidance traveling, if it is judged that a collision cannot be avoided by only the braking force when avoiding a collision with an object around the own vehicle.
  • the present disclosure provides a collision avoidance apparatus that uses the technology for reducing the possibility of a collision between the own vehicle and an object around the own vehicle as much as possible.
  • the collision avoidance apparatus of the present disclosure is provided with an object recognition means, a collision determination means and a notification means.
  • the object recognition means identifies an object around the own vehicle.
  • the collision determination means determines the possibility of a collision between the object identified by the object recognition means and the own vehicle.
  • the notification means provides a notification outside the own vehicle about the movement direction of the own vehicle if the collision determination means determines that the object is a target object having the potential for collision with the own vehicle.
  • the configuration provides a notification outside the own vehicle about the movement direction of the own vehicle, when there is the possibility of a collision between the own vehicle and the object around the own vehicle, thus, the object around the own vehicle can acquire the movement direction of the own vehicle. Therefore, when the object around the own vehicle is a moving object such as a vehicle, the object around the own vehicle can perform avoidance traveling manually or automatically based on the acquired movement direction of the own vehicle. Hence, the possibility of a collision between the own vehicle and the object around the own vehicle can be reduced as much as possible thereby.
  • FIG. 1 is a block drawing showing a collision avoidance system according to the present embodiment.
  • FIG. 2 is a flowchart showing a collision avoidance process.
  • a pre-crash safety system (PCS) 2 (collision avoidance system), shown in FIG. 1 , is installed in a vehicle, and if there is the possibility that the own vehicle will collide with an object around the own vehicle, is a system for avoiding the collision by controlling the operation of the brakes and the steering wheel in order to avoid a collision between the own vehicle and the object and mitigating the damage in the event of a collision.
  • PCS pre-crash safety system
  • the PCS 2 is provided with a collision avoidance apparatus 10 , various sensors and various control objects.
  • the collision avoidance apparatus 10 is provided with an object identification unit 12 , an avoidance traveling control unit 14 , a notification control unit 16 and a vehicle traveling control unit 18 .
  • the object identification unit 12 , the avoidance traveling control unit 14 , the notification control unit 16 and the vehicle traveling control unit 18 are mainly constituted by a well-known microcomputer provided with a CPU, ROM, RAM, and the like respectively.
  • the object identification unit 12 acquires the information about objects around the own vehicle detected by a camera 20 , a millimeter wave radar 22 , a laser radar 24 , sonar 26 and a position detection sensor 28 as the various sensors.
  • the object identification unit 12 identifies the type, shape, distance to the own vehicle, the movement speed, the movement direction of the object relative to the own vehicle for the objects in the image based on the image data captured by the camera 20 .
  • the object identification unit 12 classifies objects into, for example, vehicles, pedestrians, and types of objects other than vehicles and pedestrians.
  • the object identification unit 12 based on the image data captured by the camera 20 , the object identification unit 12 identifies the movement direction of the target object and a change of speed when the movement direction of the target object changes as a target object having the potential for collision with the own vehicle among the target objects around the own vehicle based on optical signals using, for example, at least one of the headlights and the turn signals from the other vehicle.
  • the movement direction of the other vehicle is notified by turning on or blinking either the right or left side of at least one of the headlights and the turn signals of the other vehicle. Further, the change of speed when the movement direction changes, for example, in order for the other vehicle to avoid a collision with the own vehicle is notified in accordance with, for example, the blinking rate of at least one of the headlights and the turn signals of the other vehicle. The faster the change of speed of the movement direction, the higher the blinking rate becomes.
  • the object identification unit 12 identifies the distance between the own vehicle and the object, the relative speed to the own vehicle of the object and the like for the object around the own vehicle based on a reflected wave which the millimeter wave radar 22 , the laser radar 24 or the sonar 26 receives.
  • the object identification unit 12 acquires the position of the own vehicle from the position detection sensor 28 .
  • the position detection sensor 28 is a sensor which receives, for example, GPS signals of GPS satellites as the positioning signal of a positioning satellites to detect the own vehicle position.
  • the avoidance traveling control unit 14 acquires the traveling information of the own vehicle from the position detection sensor 28 , a four-wheel speed sensor 30 , a steering angle sensor 32 , a longitudinal G sensor 34 , a lateral G sensor 36 and a yaw rate sensor 38 as the various sensors.
  • the four-wheel speed sensor 30 detects the respective rotational speed of the four wheels of the own vehicle.
  • the steering angle sensor 32 detects the steering angle of the steering wheel of the own vehicle.
  • the longitudinal G sensor 34 detects the acceleration of the own vehicle.
  • the lateral G sensor 36 detects the acceleration in the lateral direction of the own vehicle.
  • the yaw rate sensor 38 detects the turning angular velocity of the own vehicle.
  • the avoidance traveling control unit 14 determines the potential (i.e., the possibility of a collision) for a collision with the own vehicle of the object around the own vehicle based on the traveling information of the own vehicle acquired from the position detection sensor 28 , the four-wheel speed sensor 30 , the steering angle sensor 32 , the longitudinal G sensor 34 , the lateral G sensor 36 and the yaw rate sensor 38 , the identification information which is the information relating to the object around the own vehicle acquired from the object identification unit 12 , and the position of the object around the own vehicle, the movement direction and the change of speed of the movement direction acquired from the notification control unit 16 described hereafter.
  • the avoidance traveling control unit 14 executes avoidance traveling control for avoiding a collision with a target object having the potential for collision with the own vehicle when there is a possibility that the own vehicle will collide with the object around the own vehicle.
  • the notification control unit 16 notifies the direction (i.e., the avoidance direction or the collision avoidance direction) which the own vehicle avoids as the movement direction of the own vehicle to the outside of the own vehicle by optical signals which used at least one of the headlights 40 and the turn signals 42 which are control objects, when avoidance traveling control for avoiding a collision between the own vehicle and the target object is executed by the avoidance traveling control unit 14 .
  • the notification control unit 16 notifies the movement direction of the own vehicle by turning on or blinking either the right or left side of at least one of the headlights 40 and the turn signals 42 of the own vehicle.
  • the movement direction of the own vehicle is notified by turning on or blinking the avoidance direction side of at least one of the headlights 40 and the turn signals 42 of the own vehicle.
  • the notification control unit 16 notifies the change of speed when the movement direction is changed to the avoidance direction in order to avoid a collision between the own vehicle and the other vehicle, for example, by the blinking rate of at least one of the headlights 40 and the turn signals 42 .
  • the notification control unit 16 uses a communication device 44 which is a control object to acquire the movement direction and the change of speed of the movement direction of the own vehicle from the avoidance traveling control unit 14 to notify by transmitting to the outside of the own vehicle.
  • the communication device 44 is a device for performing, for example, inter-vehicle communication.
  • the notification control unit 16 acquires the own vehicle position detected by the position detection sensor 28 via the avoidance traveling control unit 14 , and may use the communication device 44 to transmit and notify the movement direction of the own vehicle together to the outside of the own vehicle.
  • the other vehicle can identify the movement direction and the change of speed of the movement direction of the own vehicle transmitted by the own vehicle based on the information received by the communication device.
  • the notification control unit 16 acquires the movement direction and the change of speed of the movement direction of the other vehicle transmitted by the other vehicle from the communication device 44 as the object around the own vehicle.
  • the vehicle traveling control unit 18 indicates the amount of control in a drive force control unit 50 , a brake control unit 52 and a steering control unit 54 which are control objects based on an indication from the avoidance traveling control unit 14 .
  • the drive force control unit 50 controls the fuel injection amount or the amount of intake air based on the amount of control indicated from the vehicle traveling control unit 18 , when an internal combustion engine is provided as a drive source of the own vehicle, and when a motor is provided as a drive source, controls the amount of energization and the like to the motor, thereby controlling the drive force of the own vehicle
  • the brake control unit 52 controls the braking force by the hydraulic pressure of the hydraulic brake and when a motor is provided as the drive source of the own vehicle, controls the braking force by a regenerative brake based on the control amount indicated from the vehicle traveling control unit 18 .
  • the steering control unit 54 controls the amount of energization to the motor which drives the rotation of the steering wheel based on the control amount indicated from the vehicle traveling control unit 18 .
  • the collision avoidance process executed by the collision avoidance apparatus 10 will be explained based on the flowchart of FIG. 2 .
  • the flowchart of FIG. 2 is normally executed.
  • the collision avoidance apparatus 10 determines whether or not the collision avoidance process is executed in the lateral direction (S 402 ).
  • Collision avoidance in the lateral direction may be carried out by the operation of the steering wheel, or the braking force difference between the left and right brakes, or using both the operation of the steering wheel and the braking force difference between the left and right brakes.
  • the collision avoidance apparatus 10 When collision avoidance process is not executed in the lateral direction (S 402 : No), the collision avoidance apparatus 10 terminates this process. When collision avoidance process is executed in the lateral direction (S 402 : Yes), the collision avoidance apparatus 10 determines whether or not a target object having the potential for collision with the own vehicle is moving (S 404 ).
  • the collision avoidance apparatus 10 determines the movement direction and the change of speed of the movement direction of the own vehicle in order to avoid a collision with the target object (S 406 ).
  • the collision avoidance apparatus 10 determines whether or not the information of the movement direction of the target object and the information of the change of speed for changing the movement direction to the avoidance direction were acquired from a target object such as the other vehicle when the movement direction is changed to the avoidance direction in order that the target object avoids a collision with the own vehicle (S 408 ).
  • the change of speed of the movement direction is expressed by, for example, the rate of change of the steering angle of the steering wheel.
  • the acquired information relating to the movement direction and the change of speed of the movement direction acquired from the target object may be acquired using the communication device 44 to receive the information transmitted directly from the target object or indirectly transmitted via a control center and the like.
  • the image data of the optical signal captured by the camera 20 may be acquired and analyzed by the object identification unit 12 .
  • the collision avoidance apparatus 10 determines the movement direction and the change of speed of the movement direction of the own vehicle in order to avoid collision with the target object based on the acquisition information relating to the movement direction and the change of speed of the movement direction acquired from the target object (S 410 ), and the process proceeds to S 414 .
  • the collision avoidance apparatus 10 determines the movement direction and the change of speed of the movement direction of the own vehicle (S 412 ) in order to avoid a collision with the target object based on the movement direction of the target object and the change of speed of the movement direction detected by various sensors such as a camera 20 , a millimeter wave radar 22 , a laser radar 24 , and a sonar 26 , and the process proceeds to S 414 .
  • the collision avoidance apparatus 10 determines the amount of control for the drive force control unit 50 , the brake control unit 52 and the steering control unit 54 based on the movement direction and the change of speed of the movement direction of the own vehicle determined in S 406 , S 410 , and S 412 .
  • the collision avoidance apparatus 10 notifies the movement direction of the own vehicle determined by S 410 or S 412 , and when executing avoidance traveling control in order to avoid a collision with the target object, the change of speed for changing the movement direction to the avoidance direction and the position and speed of the own vehicle as the traveling information of the own vehicle are notified to the target object by an optical signal using at least one of the headlights 40 and the turn signals 42 , and wireless communication using the communication device 44 .
  • the traveling information of the own vehicle may be directly transmitted from the own vehicle or indirectly from the own vehicle to the target object via the control center and the like.
  • the movement direction and the change of speed of the movement direction of the own vehicle and the position and speed of the own vehicle as the traveling information of the own vehicle are notified to the target object by communication using the communication device 44 and optical signals using the headlights 40 and the turn signals 42 .
  • the collision avoidance apparatus 10 notifies that there is a state in which it is not possible to move in the direction for avoiding a collision, and sets the slipping direction as the movement direction.
  • collision avoidance system 10 : collision avoidance apparatus
  • 12 object identification unit (object recognition means and movement direction acquisition means)
  • 14 avoidance traveling control unit (avoidance traveling control means)
  • 16 notification control unit (notification means and movement direction acquisition means)
  • 18 vehicle traveling control unit (avoidance traveling control means)
  • 40 headlights
  • 42 turn signals
  • 44 communication device

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
US15/574,803 2015-05-18 2016-05-17 Collision avoidance apparatus for notification of collision avoidance direction Active US10328849B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2015101177A JP6384400B2 (ja) 2015-05-18 2015-05-18 衝突回避装置
JP2015-101177 2015-05-18
PCT/JP2016/064579 WO2016186105A1 (ja) 2015-05-18 2016-05-17 衝突回避方向を報知する衝突回避装置

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US20180141492A1 US20180141492A1 (en) 2018-05-24
US10328849B2 true US10328849B2 (en) 2019-06-25

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US (1) US10328849B2 (enExample)
JP (1) JP6384400B2 (enExample)
CN (1) CN107614329B (enExample)
DE (1) DE112016002233B4 (enExample)
WO (1) WO2016186105A1 (enExample)

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JP6981270B2 (ja) 2018-01-18 2021-12-15 トヨタ自動車株式会社 運転支援装置及び方法
US11262755B2 (en) * 2018-04-09 2022-03-01 Toyota Motor Engineering & Manufacturing North America, Inc. Driver assistance system for autonomously indicating vehicle user intent in response to a predefined driving situation
EP3626585A1 (en) * 2018-09-21 2020-03-25 Visteon Global Technologies, Inc. Driver assistance system and method for displaying traffic information
JP7414025B2 (ja) * 2021-01-21 2024-01-16 トヨタ自動車株式会社 衝突回避支援装置
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US20180141492A1 (en) 2018-05-24
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CN107614329A (zh) 2018-01-19
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